encoder.py 文件源码

def __init__(self, mm_per_tick=0.306096, pin=27, poll_delay=0.0166, debug=False):
        import RPi.GPIO as GPIO
        GPIO.setmode(GPIO.BCM)
        GPIO.setup(pin, GPIO.IN)
        GPIO.add_event_detect(pin, GPIO.RISING, callback=self.isr)

        # initialize the odometer values
        self.m_per_tick = mm_per_tick / 1000.0
        self.poll_delay = poll_delay
        self.meters = 0
        self.last_time = time.time()
        self.meters_per_second = 0
        self.counter = 0
        self.on = True
        self.debug = debug